JP5920158B2 - Image storage device for moving body - Google Patents

Description

  The present invention relates to a moving body image storage device that performs processing for storing a peripheral image taken by a camera mounted on a moving body in a durable storage medium.

  Conventionally, images from a CCD camera and information acquired from various sensors are recorded in a random access memory, and when a collision sensor is activated due to an accident, the recorded information in the random access memory is transferred to the flash memory and recorded in the flash memory. There is a drive recorder that takes out information from an output terminal via an encoder and reproduces image information immediately before the accident (see, for example, Patent Document 1).

JP 2000-6854 A

  In the drive recorder as described above, an acceleration sensor is generally used as a collision sensor. When the acceleration sensor detects an acceleration equal to or higher than a certain determination threshold (for example, 0.4 G), the recorded information in the random access memory is stored. It is configured to be transferred to a durable storage medium such as a flash memory.

  In such a configuration in which the recorded information in the random access memory is transferred to the durable storage medium when the acceleration sensor detects an acceleration equal to or higher than a certain determination threshold, for example, the determination threshold is set to a small value. In such a case, malfunction such as sudden braking, sudden steering, sudden start, etc. frequently occurs such that the recorded information in the random access memory is transferred to the durable storage medium for reasons other than accidents. As described above, if malfunctions occur frequently, unnecessary recording occurs and power is wasted, and the life of the durable storage medium is shortened.

  On the other hand, when the determination threshold value is set to a large value, there is a problem that even if an accident occurs, the recorded information in the random access memory is not transferred to the durable storage medium, and the image information immediately before the accident cannot be reproduced.

  As described above, depending on the setting value of the determination threshold, there is a problem that image information is frequently recorded on the durable storage medium due to malfunction, or that image information is not recorded on the durable storage medium even if an accident occurs.

  The present invention has been made in view of the above problems, and is intended to suppress storage of a peripheral image in a durable storage medium due to a malfunction, and more reliably store a peripheral image in a durable storage medium at the time of a collision. Objective.

In order to achieve the above object, according to the first aspect of the present invention, when an acceleration greater than a determination threshold is detected by an acceleration sensor mounted on a moving body, a predetermined time including a point in time when the acceleration is detected is determined. A moving body image storage device that performs processing for storing a peripheral image captured by a camera that captures the periphery of a moving body in a durable storage medium during a predetermined period of time, and the mobile body may collide Situation determination means for determining whether or not the vehicle is in a high situation, and determination threshold change means for changing the determination threshold value to be smaller when the situation determination means determines that the mobile body is highly likely to collide When, with the acceleration sensor is adapted to detect the acceleration in the lateral direction of the moving body, the status determination means, the moving body is subjected to an impact in the lateral direction as likely to movable body collision situation Possibility to determine whether the high circumstances, the determination threshold changing means is characterized in that to change so as to reduce the determination threshold for the right and left direction of the acceleration of the moving body.

According to such a configuration, it is determined whether or not there is a high possibility that the mobile body will collide, and if it is determined that the mobile body is highly likely to collide, the determination threshold value is decreased. The acceleration sensor detects the acceleration in the left-right direction of the moving body, and the situation determination means receives the impact in the left-right direction as a situation where the moving body is highly likely to collide. It is determined whether or not the situation is highly likely, and the judgment threshold value changing unit decreases the judgment threshold value of the acceleration in the left and right direction of the moving body, so that it is determined that the moving body is highly likely to collide. In this case, the determination threshold value can be reduced compared with the case where it is determined that the mobile object is not likely to collide, and the storage of peripheral images in the durable storage medium due to malfunction is suppressed. And more reliably in the event of a collision That it is possible to perform the storage of the peripheral image to the durable storage medium.
In order to achieve the above object, the invention according to claim 2 includes a point in time when the acceleration detected by the acceleration sensor mounted on the mobile body is detected, the acceleration being detected. A moving body image storage device that performs processing for storing a peripheral image captured by a camera that captures the periphery of a moving body in a durable storage medium during a predetermined period, and the moving body may collide A situation determination unit that determines whether or not the situation is highly likely, and a determination threshold that is changed so as to decrease the determination threshold when the situation determination unit determines that the mobile object is highly likely to collide The acceleration sensor detects the acceleration in the left-right direction of the moving body, and the situation determination means detects the impact of the moving body in the left-right direction as a situation where the moving body is highly likely to collide. Possibility to determine whether the high availability to receive, the determination threshold changing means is characterized in that to change so as to reduce the determination threshold for the right and left direction of the acceleration of the moving body.
According to such a configuration, it is determined whether or not there is a high possibility that the mobile body will collide, and if it is determined that the mobile body is highly likely to collide, the determination threshold value is decreased. The acceleration sensor detects the acceleration in the left-right direction of the moving body, and the situation determination means receives the impact in the left-right direction as a situation where the moving body is highly likely to collide. Since it is determined whether or not the situation is highly likely and the determination threshold value changing unit changes the determination threshold value of the acceleration in the left-right direction of the moving body to be small, the same as in the above-described invention according to claim 1 The effect of can be obtained.

It is a figure which shows the structure of the image storage device for moving bodies which concerns on one Embodiment of this invention. It is a flowchart of the control part of a drive recorder. The flowchart of the threshold control process in FIG. 2 is shown. It is a figure for demonstrating determination of the lane change of the own vehicle. It is a figure for demonstrating distance determination with a front vehicle and a succeeding vehicle, and the own vehicle. It is a flowchart of the frame rate control process in FIG.

  A configuration of an image storage device for a moving body according to an embodiment of the present invention is shown in FIG. When the acceleration sensor 20 mounted on the vehicle detects an acceleration having a magnitude equal to or greater than a determination threshold, the moving body image storage device has a predetermined period including the time point when the acceleration is detected. The drive recorder is configured to store a peripheral image captured by the camera 10 that captures the periphery in a nonvolatile memory 14.

  The drive recorder includes a front camera 10a, a rear camera 10b, an image acquisition device 11, a recording control device 12, a volatile memory 13, a nonvolatile memory 14, a lane recognition device 15, and an approaching vehicle recognition device 16. Various signals are input to the recording control device 12 from the lateral acceleration sensor 20a, the longitudinal acceleration sensor 20b, the steering sensor 21, the direction indicating switch 22, and the obstacle detection sensor 23 as vehicle signals.

  The front camera 10a is an in-vehicle camera that photographs the front of the vehicle and is attached to the front of the vehicle. The rear camera 10b is an in-vehicle camera that captures the rear of the vehicle and is attached to the rear of the vehicle. Each of the in-vehicle cameras 10a and 10b transmits a captured peripheral image at a constant frame rate (for example, a maximum specification of 60 fps (Frame Per Second)).

  The image acquisition device 11 captures a peripheral image input from each vehicle-mounted camera 10. Specifically, an image file in a predetermined format (for example, JPEG, AVI, etc.) is generated from the peripheral image input from each in-vehicle camera 10, and the generated image file is recorded in the recording control device 12 and the lane recognition device 15. And output to the approaching vehicle recognition device 16. Further, the image acquisition device 11 can capture a peripheral image at a predetermined frame rate.

  The recording control device 12 is configured as a computer including a CPU, a ROM, an I / O, and the like, and the CPU performs various processes according to a program stored in the ROM. As processing of the recording control device 12, processing for storing an image file for the latest fixed period generated by the image acquisition device 11 in the volatile memory 13, a determination threshold or more based on a signal input from the acceleration sensor 20 When it is determined that a magnitude (absolute value) acceleration is detected, the surrounding image captured by the camera 10 that captures the periphery of the vehicle is volatile during a predetermined period including the time when the acceleration is detected. There is a process of reading from the memory 13 and storing it in the nonvolatile memory 14.

  The volatile memory 13 is configured using a DRAM or the like, and the nonvolatile memory 14 is configured using a flash memory.

  The lane recognition device 15 and the approaching vehicle recognition device 16 are configured as an image recognition device that recognizes a predetermined feature from an image around the vehicle taken by the in-vehicle camera 10.

  The lane recognition device 15 acquires an image file around the vehicle from the image acquisition device 11, and recognizes a lane line (center line, roadway outer line, etc.) separating the lanes drawn on the road surface of the road as a feature. At the same time, it is determined whether or not the vehicle has changed lanes from the position and orientation of the lane markings in the image around the vehicle, and the determination result is output to the recording control device 12. A situation where the host vehicle joins the main road from the side road at the interchange is also determined as a situation where the host vehicle is changing lanes.

  The approaching vehicle recognition device 16 acquires an image file around the vehicle from the image acquisition device 11 and recognizes a vehicle located at least one of the front and rear of the vehicle as a feature, and the size of the vehicle in the image around the vehicle. Then, it is determined whether or not the distance between the vehicle and the host vehicle is less than a reference value, and the determination result is output to the recording control device 12.

  The lateral acceleration sensor 20a is mounted on the vehicle so as to detect the lateral acceleration of the vehicle. The lateral acceleration sensor 20a outputs a signal corresponding to the acceleration in the left-right direction of the vehicle.

  The longitudinal acceleration sensor 20b is mounted on the vehicle so as to detect acceleration in the front-rear direction (traveling direction and backward direction). The vertical acceleration sensor 20b outputs a signal corresponding to the longitudinal acceleration. In the present embodiment, the longitudinal acceleration of the vehicle detected by the longitudinal acceleration sensor 20b will be described as the longitudinal acceleration of the vehicle.

  The steering sensor 21 outputs a signal corresponding to the steering angle. Further, the direction indicating switch 22 outputs a signal corresponding to the operation position of a direction indicating lever provided so as to extend from the steering column.

  The obstacle detection sensor 23 detects the distance between the object (vehicle) positioned in front of the host vehicle and the host vehicle, outputs a signal indicating the detected distance, and is positioned behind the host vehicle (vehicle). The distance between the vehicle and the host vehicle is detected, and a signal indicating the detected distance is output. The obstacle detection sensor 23 can be configured using a millimeter wave radar, an ultrasonic sonar, or the like.

  The drive recorder stores an image of the vehicle periphery captured by the in-vehicle camera 10 that captures the periphery of the vehicle in a volatile memory (primary storage medium) 13 and is larger than a determination threshold by the acceleration sensor 20 mounted on the vehicle. When the acceleration is detected, the surrounding image captured by the in-vehicle camera 10 that captures the periphery of the vehicle is read from the volatile memory 13 and is nonvolatile during a predetermined period including the time when the acceleration is detected. The information is stored in a memory (durable storage medium) 14. The durable storage medium refers to a storage medium that can continue to hold data even when the supply of power to the drive recorder is stopped.

  In addition, this drive recorder has a possibility that the own vehicle will collide, and the distance between the situation where the own vehicle is changing the lane and the vehicle located at least one of the front and rear of the own vehicle is less than the reference value. When the situation is determined and it is determined that the vehicle is highly likely to collide, a process of changing the determination threshold value to be small is performed.

  2 and 3 and 6 show flowcharts of the control unit of the drive recorder according to the present embodiment. The process of the recording control device 12 will be described as the process of the control unit of the drive recorder. When the ignition switch of the vehicle is turned on in response to the driver's operation, the drive recorder enters an operating state, and the recording control device 12 starts the processing shown in FIG. 2 and the vehicle input from the image acquisition device 11. The process of recording the peripheral images in the volatile memory 13 at a predetermined frame rate for a predetermined period (for a plurality of predetermined frames) is started. The frame rate is set to an initial value that is lower than the frame rate of the in-vehicle camera 10 (30 fps in this embodiment), and is changed in S204 and S206 in FIG.

  First, threshold control processing is performed (S100). FIG. 3 shows a flowchart of the threshold control process. In this threshold value control process, first, the lateral acceleration determination threshold value is set to a predetermined constant value (reference value), and the vertical acceleration determination threshold value is set to a predetermined constant value (reference value) (S102). ). The lateral acceleration determination threshold and the vertical acceleration determination threshold may be the same value or different values.

  Next, it is determined based on the determination result output from the lane recognition device 15 whether or not the host vehicle is changing lanes (S104). FIG. 4 shows a state where the host vehicle is changing lanes from the driving lane to the overtaking lane. In the present embodiment, in order to increase the determination accuracy, the lane recognition device 15 determines that the host vehicle is changing lanes, and the steering turning angle is greater than or equal to a reference value based on a signal input from the steering sensor 21. If the direction indicator switch 22 is operated in the turning direction of the vehicle, it is determined that the host vehicle is changing lanes.

  Here, it is determined by the lane recognition device 15 that the host vehicle is changing lanes, the steering turning angle is determined to be equal to or greater than the reference value, and the direction indicating switch 22 is set in the turning direction of the vehicle. If it is operated, the determination in S104 is YES, and then the lateral acceleration determination threshold is changed (S106). Specifically, the lateral acceleration determination threshold set in S102 is made smaller. Thus, by making the threshold value for determining lateral acceleration small, it is easy to detect the impact in the left-right direction of the vehicle.

  Further, when it is determined by the lane recognition device 15 that the host vehicle has not changed lanes, or when it is determined that the steering turning angle is not equal to or greater than the reference value, or the direction indication switch 22 is If it is not operated in the turning direction, the determination in S104 is NO, and the process proceeds to S108 without changing the determination threshold for lateral acceleration.

  In S108, it is determined based on the determination result output from the approaching vehicle recognition device 16 whether or not the distance from the object (vehicle) located at least one of the front and rear of the host vehicle is less than the reference value. . FIG. 5 shows a state in which a front vehicle and a following vehicle are traveling in front of and behind the host vehicle. In the present embodiment, in order to enhance the determination system, the approaching vehicle recognition device 16 determines that the distance between the vehicle located at least one of the front and rear of the host vehicle and the host vehicle is less than the reference value, and the obstacle When it is determined that the distance between the vehicle located at least one of the front and rear of the vehicle and the host vehicle is less than the reference value based on the signal input by the detection sensor 23, the distance between the front and rear of the host vehicle is determined. It is determined that the distance from the positioned object (vehicle) is less than the reference value.

  Here, when the distance between the object (vehicle) located at least one of the front and rear of the host vehicle and the host vehicle is less than the reference value, the determination in S108 is YES, and then the vertical acceleration determination threshold is set. Change (S110). Specifically, the longitudinal acceleration determination threshold set in S102 is made smaller. As described above, by reducing the longitudinal acceleration determination threshold, it is easy to detect the impact in the front-rear direction of the vehicle.

  Returning to the description of FIG. 2, the frame rate control process (S200) is then performed. FIG. 6 shows a flowchart of the frame rate control process. Here, the frame rate of the image recorded in the volatile memory 13 is set to a value lower than the frame rate of the in-vehicle camera 10 (in this embodiment, 30 fps).

  First, it is determined whether or not it is determined that the host vehicle has changed lanes, or whether or not the preceding vehicle or the following vehicle has approached a certain distance (S202). Specifically, as in S104, it is determined whether or not the host vehicle is changing lanes, and the distance from an object (vehicle) located at least one of the front and rear of the host vehicle is determined as in S108. It is determined whether or not the vehicle has become less than the reference value, and whether the vehicle has changed lanes or whether the distance to the object (vehicle) located at least one of the front and rear of the vehicle is less than the reference value judge.

  Here, if the host vehicle has changed lanes, or if the distance to the object (vehicle) located at least one of the front and rear of the host vehicle is less than the reference value, the determination in S202 is YES, The frame rate of the image recorded in the volatile memory 13 is set to be the same as the frame rate of the in-vehicle camera 10 (S204). As described above, when the frame rate of the in-vehicle camera 10 is 60 fps and the frame rate of the image to be recorded in the volatile memory 13 is set to 30 fps, the frame rate of the image to be recorded in the volatile memory 13 is set. The frame rate is set to 60 fps, which is the same as the frame rate of the in-vehicle camera 10. As described above, by increasing the frame rate of the image to be recorded in the volatile memory 13, the surrounding image of the vehicle can be recorded in the volatile memory 13 more clearly.

  If the vehicle has not changed lanes and if the distance to the object (vehicle) located at least one of the front and rear of the vehicle is not less than the reference value, the determination in S202 is NO. Thus, the frame rate of the image recorded in the volatile memory 13 is set lower than the maximum specification of the in-vehicle camera 10 (S206). In this embodiment, the frame rate of the image to be recorded in the volatile memory 13 is set to be lowered to 30 fps, and this process ends.

  Returning to FIG. 2, next, it is determined whether or not at least one of the lateral acceleration and the longitudinal acceleration has exceeded the determination threshold (S300). Here, when at least one of the lateral acceleration and the vertical acceleration exceeds the determination threshold, the determination in S300 is YES, and for a predetermined period (for a plurality of predetermined frames) including the time point when the acceleration is detected. The surrounding image of the vehicle is read from the volatile memory 13, and each sensor information is added to the surrounding image of the vehicle and recorded in the nonvolatile memory 14 (S400). Each sensor information includes vehicle speed, acceleration, and date / time information specified based on a signal input from a vehicle speed sensor (not shown).

  If at least one of the lateral acceleration and the longitudinal acceleration does not exceed the determination threshold value, the determination in S300 is NO, and the process ends without recording the image and each vehicle signal in the nonvolatile memory 14.

  Therefore, in a situation where the host vehicle has not changed lanes and the distance from the object (vehicle) located at least one of the front and rear of the host vehicle is not less than the reference value, the threshold value for determining lateral acceleration Since the threshold for determining vertical acceleration is set to a relatively high reference value, for example, even if acceleration / deceleration occurs due to sudden braking, sudden steering, sudden start, etc., it is determined that the lateral acceleration and vertical acceleration have exceeded the determination threshold. This makes it difficult to store peripheral images in the nonvolatile memory 14 due to malfunctions.

  In addition, when it is determined that the vehicle is not in a situation where the lane is changed, or in a situation where the distance from the object (vehicle) located at least one of the front and rear of the vehicle is not less than the reference value, Since the frame rate of the image recorded in the volatile memory 13 is lower than the maximum specification of the in-vehicle camera 10, the processing load of the CPU and the like is reduced, and the power consumption is also suppressed.

  Further, when the host vehicle changes lanes, the lateral acceleration determination threshold value is changed to be smaller than the reference value, so that the surrounding image of the vehicle and each vehicle signal are read from the volatile memory 13 even with a relatively small impact. And recorded in the nonvolatile memory 14.

  If it is determined that the vehicle is in a lane change state, the frame rate of the image recorded in the volatile memory 13 is changed to the maximum specification of the in-vehicle camera 10 and is recorded in the volatile memory 13. Since the images are recorded in the nonvolatile memory 14 at the same frame rate, the surrounding image of the vehicle is recorded in the volatile memory 13 more clearly.

  Further, when the distance to the object (vehicle) located at least one of the front and rear of the host vehicle is less than the reference value, the longitudinal acceleration determination threshold is changed to be smaller than the reference value. Even with a small impact, the surrounding image of the vehicle is read from the volatile memory 13 and recorded in the nonvolatile memory 14.

  Even when it is determined that the distance from the object (vehicle) located at least one of the front and rear of the host vehicle is less than the reference value, the frame rate of the image recorded in the volatile memory 13 is Since the maximum specification of the in-vehicle camera 10 is changed and the image recorded in the volatile memory 13 is recorded in the nonvolatile memory 14 at the same frame rate, the surrounding image of the vehicle is recorded in the volatile memory 13 more clearly. The

  According to the configuration described above, it is determined whether or not the vehicle is in a situation where there is a high possibility of a collision, and when it is determined that the vehicle is likely to collide, the determination threshold is changed to be small. Therefore, when it is determined that the vehicle is highly likely to collide, the determination threshold may be reduced compared to the case where it is determined that the vehicle is not likely to collide. It is possible to suppress the storage of the peripheral image in the nonvolatile memory 14 due to a malfunction, and more reliably store the peripheral image in the nonvolatile memory 14 at the time of collision.

  Further, the acceleration sensor 20 detects the acceleration in the left-right direction of the vehicle, and whether or not the vehicle is highly likely to receive a left-right impact as a situation where the vehicle is highly likely to collide. If it is determined that the vehicle is highly likely to receive a left-right impact, the threshold for determining the left-right acceleration of the vehicle can be reduced.

  It should be noted that the situation in which the vehicle changes lanes can be determined as a situation in which the vehicle is highly likely to receive a left-right impact.

  Further, the acceleration sensor 20 detects the acceleration in the front-rear direction of the vehicle, and whether or not the vehicle is highly likely to receive an impact in the front-rear direction as a situation where the vehicle is highly likely to collide. And the threshold for determining the acceleration in the longitudinal direction of the vehicle can be reduced.

  It should be noted that a situation in which the distance from the vehicle located at least one of the front and rear of the vehicle is less than the reference value can be determined as a situation in which the vehicle is highly likely to receive a longitudinal impact.

  Also, a predetermined feature is recognized from a peripheral image photographed by the camera, and it is determined whether or not the vehicle is likely to collide based on the recognized feature. Since it is determined whether or not the vehicle is likely to collide using a camera for taking a peripheral image, the configuration can be simplified.

  In addition, the peripheral image captured by the camera is stored in the primary storage medium, and when an acceleration greater than a determination threshold is detected by the acceleration sensor, a predetermined period including the time when the acceleration is detected is detected. The peripheral image of the vehicle is read from the volatile memory 13 and stored in the nonvolatile memory 14, and the peripheral image is stored in the primary storage means at a frame rate lower than the frame rate of the peripheral image sent from the camera. Therefore, when it is determined that there is a high possibility that the moving object will collide, the peripheral image sent from the camera at the same frame rate as the peripheral image sent from the camera is stored in the primary storage means. The processing load for storing the image in the primary storage unit can be reduced, and the power consumption can be suppressed. Further, when it is determined that the vehicle is highly likely to collide, the peripheral image transmitted from the camera at the same frame rate as the peripheral image transmitted from the camera is stored in the primary storage means. The peripheral image can be recorded in the volatile memory 13 more clearly.

  In addition, this invention is not limited to the said embodiment, Based on the meaning of this invention, it can implement with a various form.

  For example, in the above embodiment, the mobile image storage device has been described by way of example of a drive recorder that stores in the nonvolatile memory 14 a peripheral image captured by the camera 10 that captures the periphery of the vehicle. It can also be mounted on a moving body such as a ship or an aircraft.

  Moreover, in the said embodiment, although flash memory was used as a durable storage medium, you may use non-volatile storage media, such as a hard disk and EEPROM, as a durable storage medium, for example. Further, for example, the drive recorder may be configured to communicate with a server installed in an information center, and a hard disk, flash memory, DVD-R, etc. provided in the server may be configured as a durable storage medium. Good. In this case, when an acceleration greater than a determination threshold is detected by an acceleration sensor mounted on the moving body, a camera that captures the periphery of the moving body during a predetermined period including the time when the acceleration is detected The peripheral image captured by the above-described method may be transmitted from the drive recorder to the server, and the server may be configured to store the image transmitted from the drive recorder in the durable storage medium.

  In the above embodiment, the situation in which the distance from the vehicle located at least one of the front and rear of the vehicle is less than the reference value is determined as a situation in which the vehicle is highly likely to receive an impact in the front-rear direction. When it is determined that there is a high possibility of receiving a longitudinal shock, the longitudinal acceleration determination threshold is reduced, but for example, a situation where the distance from the vehicle located in the left-right direction of the vehicle is less than the reference value. If the vehicle is determined to have a high probability of receiving a left-right impact, and if it is determined that the vehicle is highly likely to receive a left-right impact, the threshold for determining lateral acceleration is set to be small. Also good.

  Further, in the above embodiment, when it is determined that the vehicle is highly likely to receive a left-right impact, the lateral acceleration determination threshold is decreased, and the vehicle is highly likely to receive a longitudinal impact. If it is determined that the vehicle is in a situation where it is highly likely that the vehicle will be subjected to both left-right and front-back impacts, the threshold value for the vertical acceleration is Both acceleration determination thresholds can be reduced.

  The correspondence relationship between the configuration in the above embodiment and the configuration of the claims will be described. S104 and S108 correspond to the situation determination unit, S106 and S110 correspond to the determination threshold change unit, and the lane recognition device 15 and The approaching vehicle recognition device 16 corresponds to an image recognition unit, and the frame control process S200 corresponds to a storage control unit.

DESCRIPTION OF SYMBOLS 10a Front camera 10b Rear camera 11 Image acquisition device 12 Recording control device 13 Volatile memory 14 Non-volatile memory 15 Lane recognition device 16 Approaching vehicle recognition device 20a Lateral acceleration sensor 20b Vertical acceleration sensor

Claims (6)

When an acceleration greater than a determination threshold is detected by an acceleration sensor mounted on the moving body, the image is captured by a camera that captures the periphery of the moving body during a predetermined period including the time when the acceleration is detected. A moving body image storage device that performs processing for storing the peripheral image thus recorded in a durable storage medium,
Situation determination means for determining whether or not the mobile object is in a situation where there is a high possibility of collision;
If the moving object is determined to be in the most likely situation of collision by said status determination unit, and a determination threshold value changing means for changing to decrease said determination threshold value,
The acceleration sensor is adapted to detect lateral acceleration of the moving body,
The situation determination means determines whether or not the mobile body is highly likely to receive a left-right impact as a situation where the mobile body is likely to collide,
The determination threshold value changing unit changes the determination threshold value of the acceleration in the left-right direction of the moving object so as to be small . When an acceleration greater than a determination threshold is detected by an acceleration sensor mounted on the moving body, the image is captured by a camera that captures the periphery of the moving body during a predetermined period including the time when the acceleration is detected. A moving body image storage device that performs processing for storing the peripheral image thus recorded in a durable storage medium,
Situation determination means for determining whether or not the mobile object is in a situation where there is a high possibility of collision;
If the moving object is determined to be in the most likely situation of collision by said status determination unit, and a determination threshold value changing means for changing to decrease said determination threshold value,
The acceleration sensor is adapted to detect the acceleration in the front-rear direction of the moving body,
The situation determination means determines whether or not the moving body is highly likely to receive a longitudinal impact as a situation where the moving body is likely to collide,
The moving object image storage device, wherein the determination threshold value changing unit changes the determination threshold value of the acceleration in the front-rear direction of the moving object to be small . The moving body is a vehicle;
The situation determining means, the vehicle is moving body image storage device according to claim 1 or 2, characterized in that determining a situation of changing lane as the vehicle has a high shock potential in the lateral direction situation . The situation determination means determines a situation in which a distance from a moving body located at least one of the front and rear of the moving body is less than a reference value as a situation where the possibility of a collision in the front-rear direction of the moving body is high. The image storage device for a moving body according to claim 2 or 3 , Image recognition means for recognizing a predetermined feature from a peripheral image photographed by the camera;
The situation determining means, according to claim 1, characterized in that determining whether the moving object based on the feature was recognized by the image recognizing means is in likely situation of collision The moving body image storage device according to any one of the above. A peripheral image captured by the camera is stored in a primary storage medium, and when an acceleration greater than a determination threshold is detected by the acceleration sensor, a predetermined period including a point in time when the acceleration is detected is detected. The peripheral image of the mobile body is read from the primary storage medium and stored in the durable storage medium,
The peripheral image is stored in the primary storage medium at a frame rate lower than the frame rate of the peripheral image transmitted from the camera, and the situation determination unit determines that the mobile object is highly likely to collide. The storage control means for storing the peripheral image transmitted from the camera at the same frame rate as the peripheral image transmitted from the camera in the primary storage medium. 5. The moving body image storage device according to any one of 5 above.

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